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28501842c3
high RateKp terms. However it might be sensitive to gyro noise (vibrations). In addition it is mathematically similar to lead shapign so probably only use one or the other.
25 lines
1.7 KiB
XML
25 lines
1.7 KiB
XML
<xml>
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<object name="StabilizationSettings" singleinstance="true" settings="true">
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<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
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<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
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<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
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<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3"/>
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<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
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<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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<logging updatemode="never" period="0"/>
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</object>
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</xml>
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